AU2015276542A1 - Method for assisting a driver in maneuvering a motor-vehicle combination - Google Patents

Method for assisting a driver in maneuvering a motor-vehicle combination Download PDF

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Publication number
AU2015276542A1
AU2015276542A1 AU2015276542A AU2015276542A AU2015276542A1 AU 2015276542 A1 AU2015276542 A1 AU 2015276542A1 AU 2015276542 A AU2015276542 A AU 2015276542A AU 2015276542 A AU2015276542 A AU 2015276542A AU 2015276542 A1 AU2015276542 A1 AU 2015276542A1
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AU
Australia
Prior art keywords
sub
combination
vehicle
target
angle
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Granted
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AU2015276542A
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AU2015276542B2 (en
Inventor
Nicolas Boos
Roland Greul
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch Automotive Steering GmbH
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Robert Bosch Automotive Steering GmbH
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Publication of AU2015276542A1 publication Critical patent/AU2015276542A1/en
Application granted granted Critical
Publication of AU2015276542B2 publication Critical patent/AU2015276542B2/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/08—Driving in reverse
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • B62D13/005—Steering specially adapted for trailers operated from tractor steering system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • B62D15/0295—Steering assistants using warnings or proposing actions to the driver without influencing the steering system by overlaying a vehicle path based on present steering angle over an image without processing that image

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention relates to a method for assisting a driver in maneuvering a motor-vehicle combination (1) comprising, as vehicles, at least one tractor motor vehicle (2) and at least two trailers (3a, 3b) coupled thereto, wherein a target articulation angle (γ

Description

PCT/EP2015/057540 WO 2015/192986
Method for Assisting a Driver in Maneuvering a Motor-Vehicle Combination
The invention concerns a method for assisting a driver when maneuvering a motor vehicle combination comprising as vehicles at least one towing vehicle and at least two trailers coupled thereto. The invention also concerns a control unit of a towing vehicle.
There are a number of methods for controlling the articulation angle between the trailer and the towing motor vehicle while reversing a motor vehicle combination with a trailer. As a rule, said methods determine a target wheel turning angle from a specified target articulation angle between the trailer and the towing motor vehicle by means of a suitable control algorithm in order to achieve the target articulation angle. Said target wheel turning angle is applied by a suitable steering system. There are both methods that steer the wheels of the towing vehicle and also methods that steer the steerable axles of the trailer. EP 1 810 913 A 1 concerns assisting a driver of a vehicle combination with a trailer when reversing, whereby the driver specifies the target articulation angle between the towing vehicle or the towing motor vehicle and the trailer and the target articulation angle is then automatically applied by the steering system.
Previous methods for assisting the driver when maneuvering a motor vehicle combination only concentrate, however, on controlling the articulation angle for motor vehicle combinations with only one trailer. in a departure therefrom, the object of the present invention is to specify a method of the aforementioned type with which the articulation angle of a motor vehicle combination with a plurality of trailers can be controlled. WO 2015/192986 PCT/EP2015/057540 2
This object is achieved according to the invention by a method for assisting a driver when maneuvering a motor vehicle combination comprising as vehicles at least one towing vehicle and at least two trailers that are coupled thereto, wherein a target articulation angle between at least two of the vehicles is specified externally and is applied by means of at least one steering actuator of at least one of the vehicles, comprising at least die following steps of the method: a) subdividing the motor vehicle combination into at least two sub-combinations such that in pairs adjacent vehicles form a sub-combination in which, at least virtually, a first vehicle is used as a trailer unit and a second vehicle is used as a towing vehicle unit, b) repeated determination of a target angle for a number of successive sub-combinations from a specified target articulation angle between the towing vehicle unit and the trailer unit, starting at the sub-combination of which the target articulation angle has been specified externally, wherein: - the determined target angle is applied as the target steering angle for the towing vehicle unit of the sub-combination by means of the at least one steering actuator of the associated vehicle if the towing vehicle unit comprises the at least one steering actuator, or - the determined target angle is specified as the target articulation angle for the next sub-combination, in particular if the towing vehicle unit of the sub-combination does not comprise the at least one steering actuator.
With the method according to the invention, the articulation angles of an overall vehicle combination with at least three sub-vehicle combinations can be controlled. The motor vehicle combination comprises as vehicles at least one towing motor vehicle and at least two trailers that are coupled thereto, in particular in series. The angle between a WO 2015/192986 PCT/EP2015/057540 3 longitudinal axis of a towing vehicle and a longitudinal axis of a trailer or between the longitudinal axes of two trailers is referred to here as the articulation angle. The overall vehicle combination is equipped with at least one actuator for driving the vehicle combination and with at least one actuator for applying a yaw torque to a sub-vehicle combination. With the presented method, the overall vehicle combination is subdivided into sub-vehicle combinations or sub-combinations. Said sub-vehicle combinations consists of a trailer and a towing vehicle. In this case, looking from the rear - i.e. looking in the direction of motion - at least virtually the first vehicle of the combination can be a trailer and the second vehicle can be the towing vehicle. A virtual towing vehicle means a trailer here for example, which is used in the sub-combination as a towing vehicle or a towing vehicle unit. A target wheel angle for the towing vehicle of the sub-vehicle combination can be determined from the target articulation angle between the towing vehicle and the trailer of the sub-vehicle combination by means of a suitable control algorithm, as specified for example in EP 1 810 913 Al. If the towing vehicle of the subvehicle combination comprises no steered wheels, then the sub-vehicle combination of the overall vehicle combination lying in front of the sub-vehicle combination is used as the virtual steerable wheel of the towing vehicle of the sub-combination. The target articulation angle of the penultimate sub-vehicle combination results from the target articulation angle of the last sub-vehicle combination. This is repeated up to the leading sub-vehicle combination. Ultimately, the target wheel angle of the towing vehicle of the overall vehicle combination results from the target articulation angle of the leading subvehicle combination. In this case, the end vehicle of the overall vehicle combination that is remote from the towing motor vehicle can be considered to be the rearmost vehicle. The measures according to the invention enable the control of vehicle combinations with more than three sub-vehicles or with more than two trailers. The target articulation angle specified by an external source can also be an articulation angle of a central sub-vehicle WO 2015/192986 PCT/EP2015/057540 4 combination. This can for example be advantageous when "driving around" obstacles located in the vicinity of the sub-vehicle combination. The method according to the invention is also used during the forward travel of a vehicle combination with a plurality of traders. The method can also be used with vehicle combinations in which the actuator for applying the yaw torque does not act on the first or the leading sub-vehicle combination or in which the towing vehicle is disposed in the middle of the combination.
The process step h) of the method according to the invention can be ended if the target steering angle for the towing motor vehicle of the motor vehicle combination has been applied by means of the at least one steering actuator. The method can therefore be ended if the target wheel angle of the towing motor vehicle of the overall vehicle combination has been set in the leading sub-vehicle combination.
There can be a stand-alone sub-controller associated with each sub-combination that determines the target angle from the specified target articulation angle between the towing vehicle unit and the trailer unit of the sub-combination.
Therefore, there can be a stand-alone, in particular a single, controller associated with each sub-vehicle combination that calculates a target angle from the specified target articulation angle for the sub-vehicle combination. Said target angle can either be a target articulation angle for the next sub-vehicle combination ahead or a target steering angle for the towing vehicle of the sub-vehicle combination.
The target, articulation angle between the towing vehicle unit and the trailer unit of the subcombination can be specified externally or obtained from the sub-controller of the previous sub-combination. WO 2015/192986 PCT/EP2015/057540
C. *J
The source of the target articulation angle of a sub-vehicle combination can either be an external source or the sub-controller of the next sub-vehicle combination towards the rear.
The sub-controllers of the sub-combinations in series can form an overall controller or a cascade controller for determining the target steering angle of the towing motor vehicle of the motor vehicle combination from the externally specified target articulation angle.
Accordingly, the sub-controllers of the sub-vehicle combinations in series can form an overall controlier/cascade controller for calculating the target wheel turning angles of the towing vehicle of the overall vehicle combination from the externally specified target articulation angle for the overall vehicle combination.
The externally specified target articulation angle can be transmitted by or obtained from an input unit by a user or by an automatic driver assistance system, for example of the towing motor vehicle.
An external source for the target articulation angle, which is specified externally for the overall vehicle combination, can therefore for example be a person that specifies the target articulation angle as an intended driving direction by means of a suitable input instrument, for example a rotary knob, a touch-screen device, a remote controller, etc. Alternatively or additionally, an automatic driver assistance system can determine the target articulation angle for example from a calculated target trajectory.
The method according to the invention can apply the specified target articulation angle continuously while the motor vehicle combination is travelling. PCT/EP2015/057540 WO 2015/192986
The at least one steering actuator of the at least one vehicle for applying a yaw torque can comprise at least one steerable wheel for example, wherein other solutions can also be considered. Electronically controlled steering systems, in particular servo steering systems, can of course be used for adjusting the wheel turning angle.
With the method according to the invention, signals of articulation angle sensors of the individual vehicles, i.e. of the towing vehicle and/or the trailer, can be used.
Vehicles that are not disposed at the front or at the rear of the motor vehicle combination can be part of two different sub-combinations.
Parts of vehicle combinations of the overall vehicle combination that are not positioned at the front or at the rear of the overall vehicle combination can thereby be part of two sub-vehicle combinations (once as a trailer and once as a towing vehicle).
In claim 10 a control unit of a towing motor vehicle for a motor vehicle combination is claimed that is arranged for performing the method according to the invention.
Advantageous embodiments and developments of the invention arise from the sub claims.
An exemplary embodiment of the invention is described in principle below using the drawings:
In the figures: PCT/EP2015/057540 WO 2015/192986
Fig. 1 shows a schematic representation of a motor vehicle combination comprising a towing vehicle and two trailers coupled thereto in series;
Fig. 2 shows a schematic representation of a first sub-combination of the motor vehicle combination; and
Fig. 3 shows a schematic representation of a second sub-combination of the motor vehicle combination.
Functionally identical elements are provided with the same reference characters in the figures. A motor vehicle combination 1 comprising as vehicles a towing motor vehicle 2 and two trailers 3a, 3b that are coupled thereto in series is shown in fig. 1 for clarification of a method according to the invention. The wheels of die vehicles 2, 3a, 3b are provided with the reference character 5. The towing vehicle 2 comprises as a steering actuator a steering system that is not represented, which for example can be implemented as EPS (electric power steering) or ATS (active front steering), and wheels 5a, 5b that are steerable by the same. The steerable wheels 5a, 5b are considered here in a highly simplified way as a steering actuator. There is an articulation angle j2 between the trailer 3b and the trailer 3a. There is an articulation angle γι between the trailer 3a and the towing motor vehicle 2. The wheel turning angle of the towing motor vehicle 2 is denoted by a.
With the method according to the invention for assisting a driver when maneuvering the motor vehicle combination 1 comprising as vehicles the towing motor vehicle 2 and two trailers 3a, 3b that are coupled thereto, in particular in series, a target articulation angle j2 between two of the vehicles 3a, 3b is specified externally and is applied by means of a steering actuator 5a, 5b of the towing motor vehicle 2. The method comprises at least the WO 2015/192986 PCT/EP201.5/057540 8 following process steps: a) subdividing the motor vehicle combination 1 into two sub-combinations la, lb (see figures 2 and 3) so that in pairs adjacent vehicles 2, 3a, 3b form the sub-combination la, lb, in which at least virtually a first vehicle is used as a trailer unit 3a, 3b and a second vehicle is used as a towing vehicle unit 2, 3a; b) repeated determination of a target angle α, yi, j2 for a number of successive sub-combinations la, lb from a specified target articulation angle γι, j2 between the towing vehicle unit 2, 3a and the trailer unit 3a, 3b, starting at the sub-combination la, the target articulation angle j2 of which has been specified externally, wherein - the determined target angle is applied as the wheel turning angle or target steering angle a for the towing vehicle unit 2 of the sub-combination lb by means of the at least one steering actuator 5a, 5b of the associated vehicle 2 if the towing vehicle unit 2 comprises the at least one steering actuator 5a, 5b, or - the determined target angle is specified as the target articulation angle γι for the next subcombination lb, in particular if the towing vehicle unit 3a of the sub-combination la does not comprise the at least one steering actuator.
Step b) of the method is ended if the target steering angle a for the towing motor vehicle 2 of the motor vehicle combination 1 has been applied by means of the steering actuator 5a, 5b.
As can be seen from fig. 2, the articulation angle yi is specified as the target articulation angle for the sub-combination la. In fig. 2 the trailer 3b is used as the trailer unit and the trailer 3a is virtually used as the lowing vehicle unit, wherein a start was made at the rearmost trailer 3b. Because the virtual towing vehicle unit 3a in fig. 2 has no dedicated steering actuator, the determined target angle is specified as the target articulation angle γι WO 2015/192986 PCT/EP201.5/057540 9 for the next suh-eombination lb (see fig, 3). Said target articulation angle γι can be considered to be the virtual wheel turning angle of the rest of the vehicle combination or the virtual towing vehicle unit 3a. Then, as can be seen from fig. 3, the target angle for the sub-combination lb is calculated from the specified target articulation angle yj. Here the trailer 3a is now used as the trailer unit and the towing motor vehicle 2 is used as the towing vehicle unit. Because the towing motor vehicle 2 or the towing vehicle unit comprises the steering actuator 5a, 5b, the target angle can be applied as the wheel turning angle or the target steering angle a by the steering actuator 5a, 5b.
There is a stand-alone sub-controller associated with each sub-combination la, lb that determines the target angle α, yi from the specified target articulation angle γι. 72 between the towing vehicle unit 2, 3a and the trailer unit 3a, 3b of the sub-combination la, lb.
The target articulation angle γι, j2 between the towing vehicle unit, 2, 3a and the trailer unit 3a, 3b of the sub-combination la, lb can be specified externally or obtained from the sub-controller of the previous sub-combination la, lb.
The sub-controllers of the sub-combinations la, lb in series can form an overall controller or cascade controller for determining the target steering angle a of the towing motor vehicle 2 of the motor vehicle combination 1 from the externally specified target articulation angle y2. The present externally specified target articulation angle j2 can be obtained from an input unit by a user or from an automatic driver assistance system. In a different exemplary embodiment, the target articulation angle γι could also be specified externally.
With the method according to the invention, signals from articulation angle sensors, which PCT/EP2015/057540 are not shown, of the vehicles 2, 3a, 3b can be used.
The method according to the invention can be performed in a control unit, which is not shown, of the towing vehicle 2 for the motor vehicle combination 1.
Reference character list 1 motor vehicle combinati la, lb sub-combinations 2 towing motor vehicle 3a, 3b trailers 5 wheels 5a, 5b steerable wheels Yi, Y2 articulation angles a target steering angle

Claims (10)

  1. Claims
    1. A method for assisting a driver when maneuvering a motor vehicle combination (1) comprising as vehicles at least one towmg vehicle (2) and at least two trailers (3a,3b) that are coupled thereto, wherein a target articulation angle (y?) between at least two of the vehicles (3a,3b) is specified externally and is applied by means of at least one steering actuator (5a, 5b) of at least one of the vehicles (2), comprising at least the following process steps: a) subdividing the motor vehicle combination (1) into at least two sub-combinations (la,lb) such that adjacent vehicles (2,3a,3b) in pairs form a sub-combination (la,lb), in which, at least virtually, a first vehicle is used as the trailer unit (3a,3b) and a second vehicle is used as the towing vehicle unit (2,3a); b) repeated determination of a target angle (a, γι, γ?.) for a number of successive sub-combinations (la,lb) from a specified target articulation angle (γι, J2) between the towing vehicle unit (2,3a) and the trailer unit (3a,3b), starting at the sub-combination (la) of which the target articulation angle (γ ?.) has been externally specified, wherein: the determined target angle is applied as the target steering angle (a) for the towmg vehicle unit (2) of the sub-combination (lb) by means of the at least one steering actuator (5a, 5b) of the associated vehicle (2) if the towing vehicle unit (2) comprises the at least one steering actuator (5a, 5b), or - the determined target angle is specified as the target articulation angle (yj) for the next sub-combination (lb).
  2. 2. The method as claim ed in claim 1, wherein step b) is ended if the target steering angle (a) for the towing vehicle (2) of the motor vehicle combination (1) has been applied by means of the at least one steering actuator (5 a, 5 b).
  3. 3. The method as claimed in claim 1 or 2, wherein there is a stand-alone sub-controller associated with each sub-combination (la,lb) that determines the target angle (a, yj) from the specified target articulation angle (γι, γ2) between the towing vehicle unit (2,3a) and the trailer unit (3a,3b) of the sub-combination (la,lb).
  4. 4. The method as claimed in claim 3, wherein the target articulation angle (γ·., γ2) between the towing vehicle unit (2,3a) and the trailer unit (3a,3b) of the sub-combination (la,lb) is specified externally or obtained from the sub-controller of the previous subcombination (la, lb).
  5. 5. The method as claimed in claim 3 or 4, wherein the sub-controllers of the sub-combinations (la,lb) in series form an overall controller or cascade controller for determining the target steering angle (a) of the towing motor vehicle (2) of the motor vehicle combination (1) from the externally specified target articulation angle (γι).
  6. 6. The method as claimed in any one of claims 1 through 5, wherein the externally specified target articulation angle (γ2) is obtained from an input unit by a user or by an automatic driver assistance system.
  7. 7. The method as claimed in any one of claims 1 through 6, wherein the at least one steering actuator (5a, 5b) of the at least one vehicle (2) for applying a yaw torque comprises at least one steerable wheel (5a,5b).
  8. 8. The method as claimed in any one of claims 1 through 7, wherein signals from articulation angle sensors of the vehicles (2,3a,3b) are used.
  9. 9. The method as claimed in any one of claims 1 through 8, wherein vehicles (3a) that are not disposed at the front or at the rear of the motor vehicle combination (1) are part of two different sub-combinations (la,l b).
  10. 10. A control unit of a towing vehicle (2) for a motor vehicle combination (1) that is arranged for carrying out a method as claimed in any one of claims 1 through 9.
AU2015276542A 2014-06-17 2015-04-08 Method for assisting a driver in maneuvering a motor-vehicle combination Active AU2015276542B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102014108484.5A DE102014108484B4 (en) 2014-06-17 2014-06-17 METHOD OF ASSISTING A DRIVER WHEN MANEUVERING A DRIVER
DE102014108484.5 2014-06-17
PCT/EP2015/057540 WO2015192986A1 (en) 2014-06-17 2015-04-08 Method for assisting a driver in maneuvering a motor-vehicle combination

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Publication Number Publication Date
AU2015276542A1 true AU2015276542A1 (en) 2017-01-12
AU2015276542B2 AU2015276542B2 (en) 2018-10-25

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US (1) US9988085B2 (en)
AU (1) AU2015276542B2 (en)
DE (1) DE102014108484B4 (en)
WO (1) WO2015192986A1 (en)

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Publication number Publication date
WO2015192986A1 (en) 2015-12-23
DE102014108484B4 (en) 2021-07-01
AU2015276542B2 (en) 2018-10-25
DE102014108484A1 (en) 2015-12-17
US20170320520A1 (en) 2017-11-09
US9988085B2 (en) 2018-06-05

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